JP2024052012A - Picking System - Google Patents

Abstract

[Problem] To provide a picking system that can be constructed in a short time with minimal expense, without expanding a building to cope with an increase in the amount of goods. [Solution] The system includes an unmanned transport vehicle capable of transferring collection boxes that collect goods by order, a collection box receiving device that receives the collection boxes from the unmanned transport vehicle, a transport device that transports the collection boxes, an item storage shelf adjacent to the transport device, a collection box delivery device that passes the collection boxes to the unmanned transport vehicle, and an elevator, and the collection boxes are transported between floors by the elevator, and items are inserted into two collection boxes by workers from the item storage shelf at approximately the same time. [Selected drawing] Figure 1

Description

The present invention relates to a picking system.

Logistics centers and other facilities have traditionally used picking systems to sort items according to purpose. For example, a conveyor line is laid out, and on the other side of it, items are placed in the openings of a picking rack (flow rack) according to order, from which a picker picks the items. The size of one flow rack is set to an appropriate width and height for one picker to carry out picking work, and this work area is called the item input area. A number of these areas are set up to allow for appropriate processing per day or hour, called picking zones, and the picking zones are arranged along the conveyor. Workers in this picking zone pick (collect) items that have been ordered for picking by computer control, such as a WMS (Warehouse Management System) (or a warehouse management system such as a WCS (Warehouse Control System)), from a picking rack (flow rack) and place them into collection boxes such as containers, corrugated boxes, etc. that are being transported on a conveyor. The collection boxes are then conveyed to the next picking zone, where the items are picked, and finally transported to a packaging area, etc.

Picking zones like this one, which mainly use traditional conveyor transport, are often used in warehouse-scale logistics centers with floor space of more than 1,650 m2 and more than 20 picking workers.

On the other hand, the rapid spread of e-commerce has caused a large increase in the overall volume of goods, and logistics warehouses are being expanded and built more frequently, but logistics centers based on the conventional transport lines as mentioned above are no longer able to keep up with the processing capacity. In the transport line system, this is addressed by expanding the picking zone to increase processing capacity, but due to the recent labor shortage, it has become difficult to secure the planned number of workers. Therefore, the challenge has become to build a new logistics center that can handle the increasing number of items to be processed within a limited time without using labor or expanding the floor area. For example, the introduction of AGVs (Automatic Guided Vehicles) and AMRs (Autonomous Mobile Robots) (hereinafter referred to as "unmanned transport vehicles") is being promoted to replace transport lines, due to the above circumstances.

It is said that picking systems that use unmanned transport vehicles are effective in sites with an area of around 1000m2 and 15 or more workers, with the typical appropriate size. Patent Document 1 proposes a work space that includes at least a storage shelf for storing various items and supplying them to the picking position, a conveyor for transporting collection boxes, and a temporary shelf for temporarily storing items taken out of the storage boxes, with multiple picking workers positioned in a horizontal line along the longitudinal direction of the conveyor.

JP 2019-023145 A

In light of the problems of increased volume and labor shortages due to the spread of e-commerce as described above, the ultimate objective of this application is to build a new logistics center that can handle an increasing number of items to be processed within a limited time without using manpower or expanding floor space. More specifically, this application aims to provide a picking system that can be built in a short time with minimal expense, rather than dealing with an increase in volume by expanding the building.

In a first aspect of the present invention, a picking system operated by a control system based on picking information for collecting items includes an unmanned transport vehicle having a function of transferring collection boxes for collecting items by order, a collection box receiving device for receiving the collection boxes from the unmanned transport vehicle, a transport device for transporting the collection boxes, an item storage shelf adjacent to the transport device, a collection box delivery device for delivering the collection boxes to the unmanned transport vehicle, and an elevator. The first collection box receiving device, the first transport device, and the first collection box delivery device are installed on a first plane at the same height suitable for transporting the collection boxes, and a second collection box receiving device, a second transport device, and a second collection box delivery device are installed on one or more layers. The box transfer device is installed on a second plane at the same height suitable for transporting collection boxes, and is characterized in that an operator deposits items from the item storage shelf into a first collection box transported by the first transport device and stopped at a first item input position installed on the first plane, and a second collection box transported by the second transport device and further transported by the elevator and stopped at a second item input position installed on the second plane, and the first collection box is transferred to the unmanned transport vehicle by the first collection box transfer device, and the second collection box is transported by the elevator, transferred to the second collection box transfer device, and transferred to the unmanned transport vehicle.

A second aspect of the present invention may be characterized in that, in addition to the first aspect, items are inserted into the first collection box stopped at the first item insertion position and the second collection box stopped at the second item insertion position at approximately the same time.

In a third aspect of the present invention, in comparison with the first aspect, the first item input position and the second item input position may be at an optimal height that reduces the burden on the worker's lower back from the repeated input of items into the first collection box and the second collection box, and may be characterized in that the standing height is 60 cm to 80 cm from the floor.

In a fourth aspect of the present invention, in comparison with the first aspect, the running floor of the unmanned transport vehicle is provided with a floor panel capable of forming a lightweight running floor, and has a first floor suitable for the unmanned transport vehicle to transfer the collection box between the first collection box receiving device and the first collection box delivery device, and a second floor suitable for the unmanned transport vehicle to transfer the collection box between the second collection box receiving device and the second collection box delivery device, and at least the second floor may be characterized in that it is supported by a support on the floor of a building.

A fifth aspect of the present invention may be characterized in that, in addition to the first aspect, a waiting area is provided in which the unmanned transport vehicle waits.

As a sixth aspect of the present invention, in addition to the first aspect, the waiting area may be characterized by having a mechanism for charging the unmanned transport vehicle.

In a seventh aspect of the present invention, in addition to the fourth aspect, the running floor of the unmanned transport vehicle may be characterized in that at least one of an IC tag, a QR code, a magnetic tape, and a light-reflective tape is used as a grid function that serves as a marker for the AGV (Automatic Guided Vehicle) to run on.

This invention makes it possible to avoid the costly and time-consuming process of expanding the building of a logistics center in order to increase the processing capacity of the center, and by making the floors multi-story, the effective floor area can be increased, allowing workers to simultaneously place items in multiple collection boxes, improving work efficiency.

FIG. 1 is a perspective view of a picking system according to an embodiment of the present invention. FIG. 2 is an explanatory diagram illustrating a picking zone according to the present embodiment. FIG. 2 is a schematic diagram of a floor panel laid on the floor of the present embodiment. FIG. 2 is a block diagram of an overall control computer according to the present embodiment. FIG. 2 is a block diagram of a motion information generating unit according to the present embodiment. 1 is a flowchart (1) showing the operation of the picking system of the present embodiment. 11 is a flowchart (2) showing the operation of the picking system of the present embodiment.

Below, an embodiment of the present invention will be described in detail with reference to the attached drawings. In this example, the left-right direction refers to the left-right direction when looking at the picking system 1 from the front. When looking at the up-down direction, the floor surface is the downward direction when looking at it from the front, and the higher side is the upward direction. When looking at the front-to-back direction, the near side is the forward direction when looking at it from the front, and the rear side is the rear direction, and these are indicated by coordinates in the drawings as necessary. In this example, a description of already known technology will be omitted.

Figure 1 is a schematic diagram of the picking system 1. Figure 2 is an explanatory diagram illustrating the picking zone 10 of the picking system 1. As shown in Figures 1 and 2, in this embodiment, the picking system 1 is structured to have floors 25 and 23 on which unmanned transport vehicles such as AGVs (Automatic Guided Vehicles)/AMRs (Autonomous Mobile Robots) (hereinafter collectively referred to as "AMR4") can run in multiple levels (described as two levels in this embodiment), and multiple picking zones 10 are configured in which an operator S picks items from a flow rack 21 behind the picking system 1 and places the items in a collection box 5. The picking zone 10 includes an upper conveyor 7 (transport device), a lower conveyor 11 (transport device), a lifter 19 (elevator), a lower collection box receiving device 13, a lower collection box delivery device 15, an upper collection box receiving device 9, and an upper collection box delivery device 20. The upper conveyor 7 includes an upper collection box receiving device 9 upstream (to the right in FIG. 1). The collection box 5 is transferred from the AMR 4 traveling on the upper floor 23 to the upper collection box receiving device 9, and is transported from upstream to downstream (to the left in FIG. 1) of the upper conveyor 7, and then transferred to the lifter 19 waiting at the conveyor height of the upper conveyor 7.

The collection box 5 transferred from the upper conveyor 7 to the lifter 19 is transported by the lifter 19 to the lifter item input position 19A, which corresponds to the height of the lower conveyor 11 and corresponds to the location where items are input from the upper layer to the collection box, and an operator S picks items from the flow rack 21 (item storage shelf) and inputs them into the collection box 5. Once the input is complete, the collection box 5 is transported by the lifter 19 to a position corresponding to the conveyor height of the upper conveyor 7 and transferred to the upper collection box delivery device 20. The upper collection box delivery device 20 transfers the collection box 5 to the AMR 4.

The lower layer collection box receiving device 13, the lower layer collection box delivery device 15, the upper layer collection box receiving device 9, and the upper layer collection box delivery device 20 use right-angle branching devices, for example, the direction of movement of the conveyor 7 can be moved by a roller conveyor (not shown), and a right-angle branching device installed in the gap of the roller conveyor is used for transfer to and from the AMR 4.

The upper layer collection box delivery device 20 may also use a roller conveyor and a right-angle branching device, and when a picking zone is adjacent to the left, it may also function as the upper layer collection box receiving device 9 for the upper layer conveyor 7 of that picking zone 10.

The lower-level conveyor 11 is equipped with a lower-level collection box receiving device 13 upstream (to the right in Figure 1), and the collection box 5 is transferred to the lower-level collection box receiving device 13 by the AMR 4 traveling on the lower-level floor 25, and then transported from the upstream of the lower-level conveyor 11 to the lower-level collection box delivery device 15 downstream (to the left in Figure 1). An item is picked from the flow rack 21 by an operator S and placed into the collection box 5 at the location where the lower-level collection box delivery device 15 places the item in the collection box from the lower level. Once the item is placed in the collection box, the lower-level collection box delivery device 15 transfers the collection box 5 to the AMR 4.

The upper floor 23 is fixed to and mounted on supports 18 above the building's structural floor 16. The lower floor 25 may use the building's structural floor 16 or may be fixed to and mounted on supports 18.

The lifter 19 has a conveyor function at the top that can move left and right, and it is preferable that the upper conveyor 7 and the lower conveyor 11 are fixed to a support (not shown) above the building's structural floor 16.

The lifter 19 is guided by the lift base 17, which is equipped with a lift belt 171 that is erected on the building's structural floor 16, and can move and stop freely in the vertical direction, and is driven by a servo motor (not shown).

The upper level collection box delivery device 20 is fixed and installed on a support 18 above the building's structural floor 16, or is fixed and installed on the lift base 17.

The picking system 1 is also configured with a control unit that performs inventory management of items, picking instructions, and controls the AMR 4, the upper conveyor 7, the lower conveyor 11, the lifter 19, the lower collection box receiving device 13, the lower collection box delivery device 15, the upper collection box receiving device 9, and the upper collection box delivery device 20.

The overall control computer 2 in FIG. 4 creates information about the items to be picked, selects an AMR 4 that is optimal for transporting to the specified picking zone 10, for example one that can move in a short time, transmits information about the destination picking zone to the selected AMR 4, transmits instructions for transferring the collection box 5 from the AMR 4 to the upper level collection box receiving device 9 or the lower level collection box receiving device 13, transmits instructions for raising and lowering the lifter 9, transmits picking information (shelf position, item name, quantity, etc.) to the worker S, checks whether the items have been correctly placed in the collection box 5, selects the optimal AMR 4 for transport, and transmits instructions for transferring the collection box 5 from the lower level collection box delivery device 15 or the upper level collection box delivery device 20.

In the picking system 1, communication between the overall control computer 2 and the AMR 4 is via a wireless network, and communication between the overall control computer 2 and the upper conveyor 7, lower conveyor 11, lifter 19, lower collection box receiving device 13, lower collection box delivery device 15, upper collection box receiving device 9, upper collection box delivery device 20, and flow rack 21 is via a wired network and/or a wireless network.

In this embodiment, the means by which the AMR 4 moves is provided by attaching floor panels 8 equipped with marks and magnetic tape as markers in a checkerboard pattern to the upper floor 23 and lower floor 25 to form a floor for the AMR to run on, and the marks and magnetic tape information are used to move to a specified position. The floor panels 8 can form a lightweight running floor rather than the building's structural floor, so they can be installed on supports on the building's structural floor, and the upper floor 23 can easily be expanded with additional running floors.

An appropriate number of AMRs 4 are placed on the upper floor 23 and the lower floor 25. The number of floors is determined based on the picking work capacity of the worker S, the distance at which the AMRs 4 can run when loaded with collection boxes, and distances that take into account maintenance and inspection of the AMRs 4, to construct the picking system 1.

The height at which the lower conveyor 11 is installed should be within a range suitable for the worker S to place items into the collection box 5. For example, taking into consideration standing work, the optimum height is 60 cm to 80 cm from the floor, which is the optimum height for reducing the strain on the worker's lower back from repeatedly placing items into the collection box.

As the collection box 5 for picking, at least one of the following may be used: an Oricon (foldable container), a cardboard box, a plastic box, a reusable plastic assembled rack box, a bag, a container, or a tray. Also, the size is not limited to one type, and shipping containers of various sizes may be used.

The flow rack 21 is provided with an instruction display (not shown) that instructs the removal of items from the warehouse. This instruction display receives information from the overall control computer 2 and gives picking instructions to the worker S. Following this instruction, the worker S places the specified number of items and the specified number of items from a specified shelf position into the collection box 5.

The shipping area is where collection boxes 5 containing items are sorted into truck berths for different destinations, placed in shipping boxes, and loaded onto trucks (not shown).

Furthermore, as shown in FIG. 2, the collection box 5 transferred from the upper conveyor 23 to the lifter 19 is transported by the lifter 19 to the lifter item input position 19A, which corresponds to the conveyor height of the lower conveyor 11, and the item is picked from the flow rack 21 by an operator S and inserted into the collection box 5. The collection box 5 is transported from the upstream of the lower conveyor 11 (to the right in FIG. 1) to the lower collection box delivery device 15 downstream (to the left in FIG. 1), and the item is picked from the flow rack 21 by an operator S and inserted into the collection box 5 at approximately the same timing as the item is inserted into the collection box 5 from the upper conveyor 23 at the lifter item input position 19A.

Charging is performed in a charging facility (not shown) provided in an area on floors 23 and 25 where the AMR 4 does not interfere with the transportation of other AMRs 4, for example, in a waiting area (not shown). Charging by the charging facility may be performed by a contact method or a non-contact method.

As a rule, AMR4 waits in a waiting area (not shown) on each floor when it is not in the process of being transported. When this AMR4 waits in a waiting area, it can be charged from a charging facility (not shown) provided in the waiting area.

The flow rack 21 is a multi-tiered rack in which items to be picked are stored. It has multiple openings and slopes downward from the rear to the openings. Generally, cardboard boxes containing items are stored as is from the input opening at the rear to the openings. The cardboard boxes have holes punched on the opening side with a cutter knife or the like to make it easier for worker S to remove items from inside.

Figure 3 is an explanatory diagram explaining the movement of AMR4. As shown in Figure 3(a), a pair of guides (magnetic tapes, etc. 8a, 8b and 8c, 8d) are provided on the floor panel 8 at opposing positions at a fixed distance from the center point, and a sensor confirmation means (mark 12) is provided at the center point of the floor panel 8. This allows AMR4 to move accurately in a straight line from one floor panel 8 to another floor panel 8.

Furthermore, the AMR running floor device is configured by laying out a large number of floor panels 8 that have been processed into a small, portable, standard size in advance as a running confirmation means for the running sensor of the AMR 4 controlled by the overall control computer 2, and each floor panel 8 may employ a first sensor confirmation means using orthogonal tape-like guides and a second sensor confirmation means provided at the intersection of the tape-like guides.

As shown in FIG. 3(b), the floor panel 8 is also provided with a sensor confirmation means having a pair of guides (magnetic tapes, etc. 8a, 8b and 8c, 8d) at opposing positions at a fixed distance from the center point in the direction perpendicular to FIG. 3(a), and a sensor confirmation means (mark 12) at the center point of the floor panel 8, allowing the AMR 4 to move accurately in a straight line.

In addition, the label (or RFID) or other sensor is read or detected, allowing the overall control computer to determine the location of AMR4.

The overall control computer 2 acquires the current position information of the AMR4, calculates the distance to be traveled to the upper level collection box receiving device 9, lower level collection box receiving device 13, lower level collection box delivery device 15, and upper level collection box delivery device 20 in the picking zone 10, which corresponds to the next destination of the AMR4, selects the optimal AMR4 that can move in the shortest time, and transmits instructions to the selected AMR4 regarding the movement to the above-mentioned destination. In this embodiment, it is assumed that the AMR4 autonomously acquires the current position information of the AMR4 using a magnetic tape and a mark 12 installed on the floor, but this is not limited to this in the present invention, and in addition to autonomously determining using any position identification means, the overall control computer 2 can grasp and manage the position information of each AMR4 using a known technology not shown, and the overall control computer 5 can notify each AMR4 of the position information of each destination.

The overall control computer 2 is connected to the AMR 4 via a wireless network and transmits mechanism instructions, which are information indicating the operation instructions to be performed at the relevant position.

The overall control computer 2 is configured with a CPU (Central Processing Unit), a ROM (Read-only Memory) that stores control programs that run on the CPU, and a RAM (Random Access Memory) for temporarily storing various data (none of which are shown).

Figure 4 is a functional block diagram of one embodiment of the overall control computer 2 used in the picking system 1. As shown in Figure 5, the overall control computer 2 functions as a picking information management unit 51, an AMR selection unit 52, a position information generation unit 53, an operation information generation unit 54 that controls the operation of the AMR 4, the lifter 19, the conveyors 7 and 11, a mark information generation unit 55, a transmission unit 57, and a reception unit 58 by the CPU expanding the control program stored in the ROM into the RAM and executing it.

The picking information management unit 51 controls the display of the type and number of items to be picked on an indication display (not shown) provided on the flow rack 21.

The AMR selection unit 52 selects one or more AMRs 4 to transport and transfer the collection boxes based on the current position of each AMR 4.

The position information generating unit 53 generates one or more destination information indicating the position and destination of the transport and transfer of the collection box to which the AMR 4 is to be moved, which is to be sent to the AMR 4 involved in the transport and transfer of the collection box. The destination information specifically includes information related to the upper layer collection box receiving device 9, lower layer collection box receiving device 13, upper layer collection box delivery device 20, and lower layer collection box delivery device 15 in the picking zone 10.

The operation information generation unit 54 generates operation information for the AMR 4 indicating the operations to be performed at the location and destination related to the transportation and transfer of each collection box. The AMR 4 has a conveyor function at the top, and performs operations related to the transportation and transfer of the collection boxes 5 based on the operation information. Operation information is generated regarding the timing of the receipt and delivery of the collection boxes 5 and the AMR 4. For the lifter 19, operation information is generated regarding the lifting and lowering operations and the timing of the receipt and delivery of the collection boxes 5. For the worker (flow rack), the items to be picked are displayed on a display unit (not shown).

The mark information generating unit 55 generates mark information for the AMR4 to travel. For example, it generates an instruction to move to mark A, then mark B, and finally mark C in that order. The AMR4 travels according to this instruction. The instruction also includes information on moving straight or at right angles.

The transmitter 57 and receiver 58 transmit and receive information between the AMR 4 and the overall control computer 52.

The lower level collection box receiving device 13 is a device that receives a collection box 5 from an AMR 4 traveling on the lower level floor 25. The upper level collection box receiving device 9 is a device that receives a collection box 5 from an AMR 4 traveling on the upper level floor 23. The lower level collection box delivery device 15 is a device that delivers a collection box 5 to an AMR 4 traveling on the lower level. The upper level collection box delivery device 20 is a device that delivers a collection box 5 to an AMR 4 traveling on the upper level.

Figure 5 is a block diagram of the operation information generating unit 54. The operation information generating unit 54 includes an upper conveyor control unit 541, a lower conveyor control unit 542, a lifter position control unit 543, a contact sensing unit 544, a collaborative operation control unit 545, a transmitting unit 547, and a receiving unit 548.

The upper layer conveyor control unit 541 controls the upper layer conveyor 7. Specifically, it detects the collection box 5 received by the upper layer collection box receiving device 9, receives this collection box 5, and controls the transport from upstream to downstream (from right to left in Figures 1 and 2) using a right-angle branching device.

The lower-layer conveyor control unit 542 controls the lower-layer conveyor 11. Specifically, it detects the collection box 5 received by the lower-layer collection box receiving device 13, receives this collection box 5, and controls the transport from upstream to downstream (from right to left in Figures 1 and 2) using a right-angle branching device.

The lifter position control unit 543 controls the vertical position of the lifter 19. That is, when it detects a collection box 5 carried by the upper-layer conveyor 7, it controls it to receive the collection box 5 and descend. Then, when it receives a signal indicating that picking is complete, it raises the lifter 19 and passes the collection box 5 to the upper-layer collection box delivery device 20. This allows the AMR 4 to receive the collection box 5 via the right-angle branch device.

The collection box sensor 544 is provided in the upper layer collection box receiving device 9, the lifter 19, the lower layer collection box receiving device 13, the lower layer collection box delivery device 15, and the upper layer collection box delivery device 20, and when it detects a collection box 5, it sends a detection signal to the upper layer conveyor 7, the lower layer conveyor 11, and the AMR 4, respectively.

The coordinated operation control unit 545 controls the coordination of operations between the AMR 4, the upper conveyor 7, the lower conveyor 11, and the lifter 19.

The transmitter 547 and receiver 548 communicate with the overall control computer 2, the AMR 4, the upper conveyor 7, the lower conveyor 11, and the lifter 19.

The operation of the picking system 1 will be explained with reference to Figure 6.

First, in step S1, under the control of the overall control computer 2, the AMR 4 on the floor 23 transports the collection box 5 to the upper level collection box receiving device 9.

In step S3, under the control of the overall control computer 2, the AMR 4 on the floor 25 transports the collection box 5 to the lower level collection box receiving device 13.

In step S5, the collection box 5 transported to the conveyor 7 in the picking zone 10 is stopped at the lifter item input position 19A via the lifter 19. The lower-level collection box 5 is transported to the lower-level conveyor 11 and transported to the picking position (lower-level collection box delivery device 15). Then, the worker S picks the specified item and places it in the collection box 5. After picking, the collection box 5 is transported by the lifter 19 to the upper-level collection box delivery device 20. Meanwhile, since the collection box 5 is in the lower-level collection box delivery device 15, it is delivered to the AMR 4 in this state.

The overall control computer 2 creates information about the items to be picked, selects an AMR 4 that is optimal for moving to the specified picking zone 10, for example, one that can move in a short time, transmits information about the destination picking zone to the selected AMR 4, transmits instructions for transferring the collection box 5 from the AMR 4 to the upper collection box receiving device 9 or the lower collection box receiving device 13, transmits instructions for raising and lowering the lifter 9, transmits picking information (shelf position, item name, number, etc.) to the worker S, checks whether the items have been correctly placed in the collection box 5, selects the AMR 4 that is optimal for transportation, and transmits instructions for transferring the collection box 5 from the lower collection box delivery device 15 or the upper collection box delivery device 20. As a result, in step S7, the overall control computer 2 determines whether there is a work order for the AMR 4. If it is determined that there is a work order, the process proceeds to step S13. If it is determined that there is no work order, the process proceeds to step S9.

In step S9, the AMR 4 continues charging until a work command is received from the overall control computer 2. Then, the process returns to step S7.

In step S13, the overall control computer 2 determines whether all work orders have been completed. If it determines that all picking work has been completed, the process proceeds to step S15. If it determines that all work orders have not been completed, the process does not proceed and step S11 is repeated.

When all operations are completed, AMR4 returns to its initial position and waits in the charging area to charge.

Referring to Figure 7, the second operation of the picking system 1 is described.

First, in step S21, the AMR 4 on the floor 23 transports the collection box 5 to the upper level collection box receiving device 9 under the control of the overall control computer 2.

In step S23, under the control of the overall control computer 2, the AMR 4 on the floor 25 transports the collection box 5 to the lower level collection box receiving device 13.

In step S25, the collection box 5 transported to the upper conveyor 7 is transferred to the lifter 19, which then descends and stops at the lifter item input position 19A, where items are input from the upper layer into the collection box.

The collection box 5 transported by the lower-layer conveyor 11 stops at the lower-layer collection box delivery device 15, which is the position where the items are inserted into the collection box from the lower layer.

In step S27, the worker S inserts items into the collection boxes 5 stopped at the lifter item insertion position 19A and the lower-level collection box delivery device 15 at approximately the same time, and the collection box 5 from the lower-level conveyor 11 is transferred to the AMR 4 from the lower-level collection box delivery device 15, and the AMR 4 loaded with the collection box 5 moves to the next picking zone 10 in response to a work command from the overall control computer 2. The collection box 5 from the upper-level conveyor 7 is raised by the lifter 19 from the lifter item insertion position 19A to the height of the upper-level collection box delivery device 20, and transferred to the AMR 4 from the upper-level collection box delivery device 20, and the AMR 4 loaded with the collection box 5 moves to the next picking zone 10 in response to a work command from the overall control computer 2.

If necessary, when AMR 4 on the upper floor 23 is operating at full capacity and AMR 4 on the lower floor 25 has a low operating rate, the collection boxes can be moved to AMR 4 on the lower floor 25 to adjust the balance of operation between the upper and lower floors 23 and 25.

In step S29, the overall control computer 2 determines whether or not there is a work order for AMR4 and the other AMR4. If it is determined that there is a work order, the process proceeds to step S35. If it is determined that there is no work order, the process proceeds to step S31.

In step S31, AMR4 charges until a work command is received. Then, the process returns to step S29.

In step S35, the overall control computer 2 determines whether all work instructions have been completed. If it determines that all picking work has been completed, the process proceeds to step S37. If it determines that all picking work has not been completed, the process does not proceed and the determination in step S33 is repeated.

When all work is completed, AMR4 returns to its initial position and waits in the charging area to charge.

Although the present embodiment has been described above, the present invention is not limited to this, and various modifications are possible within the scope of the gist of the present embodiment. For example, the worker S may be replaced with a robot.

The picking system according to each aspect of the present invention can be used for picking operations, so the present invention has great industrial applicability in various industries, including manufacturing and logistics.

1 Picking system 2 Overall control computer 4 AMR
5 Collection box 7 Upper level conveyor 8 Floor panel 9 Upper level collection box receiving device 10 Picking zone 11 Lower level conveyor 13 Lower level collection box receiving device 15 Lower level collection box delivery device 16 Building structural floor 17 Lifting base 18 Support 19 Lifter 20 Upper level collection box delivery device 21 Flow rack 23 Upper level floor 25 Lower level floor 171 Lifting belt S Worker

Claims (7)

In a picking system that operates under a control system based on picking information that collects items,
The system comprises an unmanned transport vehicle having a function of transferring a collection box for collecting items by order, a collection box receiving device for receiving the collection box from the unmanned transport vehicle, a transport device for transporting the collection box, an item storage shelf adjacent to the transport device, a collection box delivery device for delivering the collection box to the unmanned transport vehicle, and an elevator,
The first collection box receiving device, the first transport device, and the first collection box delivery device are installed at a substantially identical first height suitable for transporting the collection box, and the second collection box receiving device, the second transport device, and the second collection box delivery device are installed at a substantially identical second height suitable for transporting the collection box,
an operator places items from the item storage shelf into a first collection box that is transported by the first transport device and stopped at a first item input position, and a second collection box that is transported by the second transport device and further transported by the elevator and stopped at a second item input position;
The first collection box is delivered to the unmanned transport vehicle by the first collection box delivery device,
A picking system, wherein the second collection box is transported by the elevator, transferred to a second collection box delivery device, and delivered to the unmanned transport vehicle. The picking system according to claim 1, characterized in that the first collection box stopped at the first item input position and the second collection box stopped at the second item input position receive items at approximately the same time. The first item input position and the second item input position are:
The picking system described in claim 1, characterized in that the height reduces the strain on the worker's lower back when repeatedly inserting items into the first collection box and the second collection box, and the standing height is approximately 60 cm to approximately 80 cm from the floor. A floor panel capable of forming a lightweight traveling floor is installed on the traveling floor of the unmanned transport vehicle,
a first floor suitable for transferring the collection box between the first collection box receiving device and the first collection box delivery device by the unmanned transport vehicle;
The second collection box receiving device and the second collection box delivery device further have a second floor suitable for transferring the collection box by the unmanned transport vehicle,
2. The picking system of claim 1, wherein at least the second floor is supported on supports on a floor of a building. The picking system according to claim 1, further comprising a waiting area in which the unmanned transport vehicle waits. The picking system according to claim 5, characterized in that the waiting area is equipped with a mechanism for charging the unmanned transport vehicle. The picking system according to claim 4, characterized in that the running floor of the unmanned transport vehicle uses at least one of IC tags, QR codes, magnetic tapes, and light-reflective tapes as a grid function that serves as a marker for the AGV (Automatic Guided Vehicle) to run on.